JPH10249618A - Boring method and boring device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To bore a work at appropriate positions without performing teaching by using an industrial robot. SOLUTION: A boring device 1 is formed out of a drill unit 4 provided with a feeding mechanism 12, a multiple axes robot 5, and of a controller 6 controlling the multiple axes robot 5. The feeding mechanism 12 permits a drill blade 13 to be advanced/retreated along a center axis 15. The tip end part of the blade 13 is guided by a guide holder 17. The controller 6 inputs the data of coordinates indicating a boring position and the data of attitude along the normal line at the boring position by way of a floppy disc 31.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a perforation method and a perforation apparatus for perforating an air vent in a mold, for example.

[0002]

2. Description of the Related Art Conventionally, when an air vent for bleeding air is pierced in a mold, an electric drill is used and the piercing operation is performed manually, which requires labor and is inefficient. Therefore, as shown in FIG. 5, a method is conceivable in which an electric drill 82 is provided at the tip of an arm 81 having multiple joints in an industrial robot, and the air vent 83 is automatically pierced by controlling the industrial robot.

[0003]

However, in the above-described drilling method, a teaching step is required in which the electric drill 82 is adjusted to the drilling position and the drilling position is stored in the industrial robot. Therefore, in the teaching process, the industrial robot has to be stopped. In addition, since the operation of aligning the electric drill 82 with the drilling position is performed manually, when a rib 85 is formed on the back surface of the mold 84, the rib 85 is assumed from the front surface side, and Rib 85
The drilling position had to be set at a site where the hole was avoided. Further, when the punching position is set to the curved portion of the mold 84, teaching must be performed while the blade 86 of the electric drill 82 is maintained perpendicular to the punching position. Requires skill.

[0004] The present invention has been made in view of such conventional problems, and a punching method and a punching device capable of punching a work at an appropriate position without performing teaching using an industrial robot. The purpose is to provide.

[0005]

According to the present invention, there is provided a drilling method for drilling holes in a workpiece by a drill provided in an industrial robot. From the drilling position of the hole set in the data, coordinate data indicating the drilling position and posture data along a normal line at the drilling position are converted into the C data.
The position and posture of the drill are controlled by the industrial robot based on the AD data and based on the coordinate data and the posture data.

That is, the drilling position of the hole drilled in the work is set to CAD data consisting of the drawing data and shape data of the work, and based on the CAD data, coordinate data indicating the drilling position and the coordinate data indicating the drilling position are set. Attitude data along the normal line at the drilling position is calculated.
Then, the industrial robot controls the position and orientation of the drill provided in the industrial robot based on the coordinate data and the orientation data, so that the drill blade is normal to the drilling position. Along, that is, perpendicular to the drilling position.

Further, in the drilling device of the present invention, in a drilling device for drilling a hole in a workpiece by a drill provided in an industrial robot, the drill blade is rotated and fed in the drilling direction. A drill unit provided with a feed mechanism and the industrial robot to which the drill unit is attached are moved along coordinate data indicating the drilling position of the hole set in the CAD data of the work, and a normal line at the drilling position. A controller that controls the drill unit by the feed mechanism while controlling the drill unit at the drilling position and in a posture along the normal line while maintaining the drill unit in the posture along the normal line.

[0008] That is, in the industrial robot, a drill unit provided in the industrial robot is used for CAD of a workpiece.
Based on the coordinate data indicating the drilling position of the hole set in the data, and the posture data along the normal line at the drilling position, the drill blade in the drill unit is controlled by the controller at the drilling position. The posture along the normal line, that is, perpendicular to the drilling position is maintained. Then, from the drill unit that is maintained perpendicular to the drilling position, the drill is rotated and the blade is sent out in the drilling direction by a feed mechanism provided in the drill unit.

Further, the drill unit is provided with a guide holder for rotatably fitting the tip end of the drill blade and guiding the movement of the drill blade in the drilling direction.

[0010] Thus, the tip of the drill bit is prevented from skidding at the tip.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic diagram showing a punching device 1 according to the present embodiment, and shows a device for punching an air vent 3 for bleeding air into a mold 2 as a work. The drilling device 1 includes a drill unit 4 for piercing the air vent 3, a multi-axis robot 5 as an industrial robot provided with the drill unit 4, and a controller 6 for controlling the multi-axis robot 5. ing.

The drill unit 4 rotates a drill body 11 attached to the multi-axis robot 5 and a drill blade 13 provided on the drill body 11,
A feed mechanism 12 for feeding in the drilling direction. The feed mechanism 12 includes a chuck 14 that rotates with the rotation of the drill blade 13 and holds the drill blade 13.
Are provided to be able to advance and retreat along the center axis 15 of the drill blade 13. A small-diameter portion 16 formed at the distal end of the drill body 11 is provided with a cylindrical guide holder 17 that surrounds the feed mechanism 12 and that decreases in diameter toward the distal end. A guide bush 18 for rotatably inserting the drill blade 13 and guiding movement of the drill 13 along the central axis 15 is provided at the tip of the guide holder 17. The guide bush 18 is made of tool steel of HRC 60 ° or more.

The multi-axis robot 5 includes a robot body 21
And an arm 22 extending from the robot body 21 and having the drill unit 4 attached thereto. The arm 22 includes a plurality of links 23,.
Are connected at joints 24,... Respectively. Accordingly, the arm 22 allows the drill unit 4 attached to the distal end to be moved by a combination of bending and turning operations at the joints 24,.
It is configured to be able to move to any position and maintain at any angle.

The controller 6 is a device for controlling all operations of the multi-axis robot 5, and controls the operations of the joints 24,... Of the arm 22, the rotation of the drill blade 13, and the like. And the feed mechanism 12 is programmed to control the advance and retreat of the blade 13. The controller 6 has a drive for reading data from the floppy disk 31.
As shown in FIG. 2, data from a CAD device 36 for creating and processing on a screen 35 based on CAD data 34 including mold drawing data 32 of the mold 2 and body shape data 33 is transferred to the floppy disk. 31.

The specific operation of the present embodiment according to the above configuration will be described with reference to the flowcharts shown in FIGS.

FIG. 3 is a flow chart showing the operation of the CAD device 36. The CAD device 36 first inputs CAD data 34 consisting of the mold drawing data 32 and the shape data 33 of the mold 2 in step SA1. I do. Then, as shown in FIG.
Based on the above, the shape of the vehicle body and the shape of the mold 2 are three-dimensionally combined and displayed on the screen 35 (SA2), and the drill-shaped pointer 41 is displayed on the screen 35 (SA3). The pointer 41 is displayed so as to be movable by input from input means such as a keyboard 42 and a mouse 43 connected to the CAD device 36, and a punch point 44 indicating a punch position by input from the input means. Is set in the mold 2 on the screen 35. Also,
The screen 35 also displays the shape of the back surface of the mold 2, specifically, the ribs 45 formed on the back surface.

As described above, since the CAD data 34 is used and the perforation points 44,... Of the air vent 3 are set on the three-dimensional image of the mold 2 based on the CAD data 34, the multi-axis robot is provided. The drilling step is adjusted to the drilling position of the mold, and the teaching step of storing the drilling position in the multi-axis robot becomes unnecessary. For this reason, the drilling work of the air vent 3 can be performed without stopping the multi-axis robot 5, so that the working efficiency can be improved. Also, the mold drawing data 3 of the mold 2
Are set using the CAD data 34 composed of the shape data 33 and the shape data 33. Therefore, if the ribs 45,. 36 on the screen 35, the ribs 45,.
Are displayed at the correct positions avoiding the ribs 45,.
・ Can be set. Thereby, contact of the drill blade 13 with the rib 45 at the time of drilling and breakage of the blade 13 due to the contact can be prevented beforehand.

Next, in the next step SA4, the process waits until a punching point 44 is set on the mold 2 displayed on the screen 35 by the pointer 41. When the perforation point 44 is set, the CAD data 3
4 to determine the coordinate value of the perforation point 44 (SA
5), a perpendicular line of a tangent line in the CAD data 34 of the mold 2 including the coordinate values is calculated and set as a normal line (SA6), and the inclination angle and the inclination direction of the normal line with respect to the mold 2 are determined. The posture data is set (SA7). in this way,
By using the CAD device 36, coordinate data indicated by the perforation points 44,... Can be easily calculated from the CAD data 34, and the perforation points 44,. Even if it is set to the part, the piercing point 4
It is possible to easily calculate the posture data along the normal line in 4,. Next, the piercing points 44,.
Are connected in the order of operation on the screen to create a robot route (SA8) and a robot movement program (SA9).

Then, it is determined whether or not all the inputs by the pointer 41 have been completed (SA10). If not all the inputs have been completed, the flow branches to step SA4, where the pointer 41 is inputted. , The input of the perforation points 44 is repeated, and when the input is completed, the coordinate values at the respective perforation points 44,.
The AD data 34 is recorded on the floppy disk 31 (SA11).

FIG. 4 is a flowchart showing the operation of the controller 6 constituting the punching apparatus 1. The controller 6 first reads the coordinate data and the attitude data from the floppy disk 31 at step SB1. Is read. Then, by controlling the arm 22 of the multi-axis robot 5, the center axis 15 of the drill unit 4 provided at the tip of the arm 22 is controlled.
Is moved to the position indicated by the read coordinate data (SB2), and is maintained at the tilt angle and tilt direction indicated by the read attitude data (SB3). In this state, the drill blade 13 of the drill unit 4 is rotated (SB4), and the feed mechanism 12 adjusts the drill blade 13 by the feed amount corresponding to the thickness of the mold 2 at the position indicated by the coordinate data. After the air vent 3 is pierced (SB5), the drill blade 13 is retracted (SB6), and the rotation of the drill blade 13 is stopped (SB7).

As described above, based on the coordinate data and the attitude data, the drill blade 13 can be accurately and vertically maintained at the drilling points 44,... Set in the CAD data 34. The drilling position of the multi-axis robot does not depend on the skill level of the operator, as compared with the conventional method in which the teaching operation has to be performed while maintaining the drill of the multi-axis robot perpendicular to the drilling position. The air vents 3,. Thereby, breakage and wear of the drill blade 13 can be reduced. Further, by sending out the drill blade 13 in the drilling direction by the feed mechanism 12 of the drill unit 4, the air vent 3 perpendicular to the drilling position in the mold 2 can be easily drilled. And the operation of the posture and the operation of feeding the drill at the time of drilling are performed by a combination of the bending and turning operations of the joints 23,... The vertical air vent 3 can be accurately pierced even in the case where the air vent 3 is pierced in a curved portion, as compared with the case where the piercing operation is performed only by the arm 22. Thereby, breakage and wear of the drill blade 13 can be reduced, and the shape of the air vent to be drilled can be kept circular.

The drill unit 4 is provided with a drill blade 13 rotatably inserted therein.
Since the guide holder 17 having the guide bush 18 for guiding the movement along the center axis 15 is provided, a center punch is previously punched at a position where the mold 2 is punched, or a small-diameter center hole is formed. Without this, it is possible to prevent the side of the drill blade 13 from slipping at the time of contact with the mold 2. Thereby, breakage of the drill blade 13 can be reliably prevented.

Then, it is determined whether or not the perforation of the air vent 3 based on all the coordinate data stored in the floppy disk 31 has been completed (SB8). If not completed, the process branches to step SB2. Steps SB2 to SB7 are repeated until the perforation of the air vent 3 based on all coordinate data and attitude data is completed.

[0024]

As described above, in the drilling method of the present invention, the drilling position of the hole drilled in the work is set by the CAD data including the drawing data and the shape data of the work. The drilling step provided on the industrial robot is adjusted to the drilling position of the work, and the teaching step of storing the drilling position in the industrial robot is not required. Thus, the boring operation can be performed without stopping the industrial robot, so that the working efficiency can be improved. Further, since the punching position is set using CAD data including the mold drawing data and the shape data of the work, even if a rib is designed on the back surface of the work, the rib is avoided in advance. The perforation position can be set at an accurate position. Thereby, contact of the drill blade with the rib at the time of drilling,
Further, breakage of the blade due to the contact can be prevented.

Further, even when coordinate data indicating the drilling position is calculated based on the CAD data and the drilling position is set to a curved portion of the work,
Posture data along the normal line at the drilling position can be easily calculated from the coordinate data. Then, based on the coordinate data and the attitude data, the drill blade can be maintained vertically at the drilling position,
Compared to the conventional method that had to perform teaching work with the drill of the industrial robot kept perpendicular to the drilling position, the drilling position was not dependent on the skill of the operator. Holes can be drilled vertically. Thus, breakage and wear of the drill blade can be reduced, and the shape of the hole to be drilled can be kept circular.

Further, in the drilling device of the present invention, the industrial robot controlled by the controller is configured to control the coordinate data indicating the drilling position of the hole set in the CAD data of the work and the normal line at the drilling position. Since the position and posture of the drill blade of the drill unit are controlled based on the posture data along, the teaching work had to be performed while maintaining the drill of the industrial robot perpendicular to the drilling position. In comparison, the drill bit can be maintained perpendicular to the drilling position without depending on the skill of the operator. Then, by sending out the drill blade in the drilling direction by the feed mechanism of the drill unit, it is possible to easily drill a hole perpendicular to the drilling position. Since the feed operation of the drill is operated by a combination of the bending and turning operations of the joints, the curved portion is compared with the case where the drilling operation is performed only by the arm of the multi-axis robot that is not suitable for the smooth movement in the oblique direction. Even when a hole is drilled in a vertical hole, a vertical hole can be accurately drilled. Thus, breakage and wear of the drill blade can be reduced, and the shape of the hole to be drilled can be kept circular.

Further, in the case where the tip of the drill blade is rotatably fitted in the drill unit and a guide holder for guiding the movement of the drill blade in the drilling direction is provided, It is possible to prevent the side of the drill blade from slipping at the time of contacting the workpiece without previously punching a center punch or forming a small-diameter center hole at the drilling position. Thereby, breakage of the drill blade can be reliably prevented.

[0028]

[Brief description of the drawings]

FIG. 1 is a schematic diagram showing an embodiment of the present invention.

FIG. 2 is a schematic diagram showing a CAD device according to the embodiment.

FIG. 3 is a flowchart showing an operation of the CAD device in the embodiment.

FIG. 4 is a flowchart showing an operation of a controller according to the embodiment.

FIG. 5 is a schematic diagram showing a conventional example.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 drilling device 2 mold (work) 3 air vent 4 drill unit 5 multi-axis robot (industrial robot) 6 controller 11 drill body 12 feed mechanism 13 blade 22 arm 34 CAD data 44 drilling point

Claims (3)

[Claims] 1. A drilling method for drilling a hole in a workpiece by a drill provided in an industrial robot, wherein coordinate data indicating the drilling position is obtained from a drilling position of the hole set in CAD data of the workpiece, and Posture data along the normal line at the drilling position is calculated based on the CAD data, and based on the coordinate data and the posture data, the position and posture of the drill are controlled by the industrial robot. Perforation method. 2. A drilling device for drilling a hole in a work by a drill provided in an industrial robot, comprising: a drill unit having a feed mechanism for rotating the drill blade and feeding the drill in the drilling direction; The industrial robot to which the drill unit is attached is controlled based on coordinate data indicating a drilling position of the hole set in the CAD data of the workpiece, and posture data along a normal line at the drilling position, and A drilling device, comprising: a controller that sends out the drill blade by the feed mechanism while a drill unit is maintained at a position along the normal at the drilling position. 3. The drill unit according to claim 1, further comprising a guide holder rotatably fitted with a tip of the blade of the drill and guiding a movement of the blade of the drill in the drilling direction. The perforator according to claim 2.